Soccer Twos Environment (#420)

* Add Soccer Twos environment, along with training parameters, embedded model, and relevant documentation.

docs/Learning-Environment-Examples.md

     * Vector Action space: (Continuous) 3 corresponding to agent force applied for the jump.
     * Visual Observations: None
 * Reset Parameters: None
+
+## Soccer Twos
+
+![SoccerTwos](images/soccer.png)
+
+* Set-up: Environment where four agents compete in a 2 vs 2 toy soccer game. 
+* Goal:
+    * Striker: Get the ball into the opponent's goal.
+    * Goalie: Prevent the ball from entering its own goal.
+* Agents: The environment contains four agents, with two linked to one brain (strikers) and two linked to another (goalies).
+* Agent Reward Function (dependent):
+    * Striker:
+        * +1 When ball enters opponent's goal.
+        * -0.1 When ball enters own team's goal.
+        * -0.001 Existential penalty.
+    * Goalie:
+        * -1 When ball enters team's goal.
+        * +0.1 When ball enters opponents goal.
+        * +0.001 Existential bonus.
+* Brains: Two brain with the following observation/action space:
+    * Vector Observation space: (Continuous) 112 corresponding to local 14 ray casts, each detecting 7 possible object types, along with the object's distance. Perception is in 180 degree view from front of agent.
+    * Vector Action space: (Discrete) 
+        * Striker: 6 corresponding to forward, backward, sideways movement, as well as rotation.
+        * Goalie: 4 corresponding to forward, backward, sideways movement.
+    * Visual Observations: None
+* Reset Parameters: None

python/trainer_config.yaml

     time_horizon: 64
     num_layers: 2
 
+StrikerBrain:
+    max_steps: 1.0e5
+    batch_size: 128
+    buffer_size: 2048
+    beta: 5.0e-3
+    hidden_units: 256
+    summary_freq: 2000
+    time_horizon: 128
+    num_layers: 2
+    normalize: false
+
+GoalieBrain:
+    max_steps: 1.0e5
+    batch_size: 128
+    buffer_size: 2048
+    beta: 5.0e-3
+    hidden_units: 256
+    summary_freq: 2000
+    time_horizon: 128
+    num_layers: 2
+    normalize: false
+
 Ball3DBrain:
     normalize: true
 

unity-environment/Assets/ML-Agents/Examples/Banana/BananaImitation.unity

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unity-environment/Assets/ML-Agents/Examples/Soccer/Scenes/SoccerTwos.unity.meta

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unity-environment/Assets/ML-Agents/Examples/Soccer/Scripts.meta

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unity-environment/Assets/ML-Agents/Examples/Soccer/Scripts/AgentSoccer.cs

+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class AgentSoccer : Agent
+{
+
+    public enum Team
+    {
+        red, blue
+    }
+    public enum AgentRole
+    {
+        striker, goalie
+    }
+    public Team team;
+    public AgentRole agentRole;
+    float kickPower;
+    int playerIndex;
+    public SoccerFieldArea area;
+    [HideInInspector]
+    public Rigidbody agentRB;
+    SoccerAcademy academy;
+    Renderer renderer;
+
+    public void ChooseRandomTeam()
+    {
+        team = (Team)Random.Range(0, 2);
+        renderer.material = team == Team.red ? academy.redMaterial : academy.blueMaterial;
+    }
+
+    public void JoinRedTeam(AgentRole role)
+    {
+        agentRole = role;
+        team = Team.red;
+        renderer.material = academy.redMaterial;
+    }
+
+    public void JoinBlueTeam(AgentRole role)
+    {
+        agentRole = role;
+        team = Team.blue;
+        renderer.material = academy.blueMaterial;
+    }
+
+    void Awake()
+    {
+        renderer = GetComponent<Renderer>();
+        academy = FindObjectOfType<SoccerAcademy>();
+        PlayerState playerState = new PlayerState();
+        playerState.agentRB = GetComponent<Rigidbody>();
+        agentRB = GetComponent<Rigidbody>();
+        agentRB.maxAngularVelocity = 500;
+        playerState.startingPos = transform.position;
+        playerState.agentScript = this;
+        area.playerStates.Add(playerState);
+        playerIndex = area.playerStates.IndexOf(playerState);
+        playerState.playerIndex = playerIndex;
+    }
+
+    public override void InitializeAgent()
+    {
+        base.InitializeAgent();
+    }
+
+    public void RayPerception(float rayDistance,
+                             float[] rayAngles, string[] detectableObjects,
+                              float startHeight, float endHeight)
+    {
+        foreach (float angle in rayAngles)
+        {
+            float noise = 0f;
+            float noisyAngle = angle + Random.Range(-noise, noise);
+            Vector3 position = transform.TransformDirection(
+                GiveCatersian(rayDistance, noisyAngle));
+            position.y = endHeight;
+            Debug.DrawRay(transform.position + new Vector3(0f, startHeight, 0f),
+                          position, Color.red, 0.1f, true);
+            RaycastHit hit;
+            float[] subList = new float[detectableObjects.Length + 2];
+            if (Physics.SphereCast(transform.position +
+                                   new Vector3(0f, startHeight, 0f), 1.0f,
+                                   position, out hit, rayDistance))
+            {
+                for (int i = 0; i < detectableObjects.Length; i++)
+                {
+                    if (hit.collider.gameObject.CompareTag(detectableObjects[i]))
+                    {
+                        subList[i] = 1;
+                        subList[detectableObjects.Length + 1] = hit.distance / rayDistance;
+                        break;
+                    }
+                }
+            }
+            else
+            {
+                subList[detectableObjects.Length] = 1f;
+            }
+            foreach (float f in subList)
+                AddVectorObs(f);
+        }
+    }
+
+    public Vector3 GiveCatersian(float radius, float angle)
+    {
+        float x = radius * Mathf.Cos(DegreeToRadian(angle));
+        float z = radius * Mathf.Sin(DegreeToRadian(angle));
+        return new Vector3(x, 1f, z);
+    }
+
+    public float DegreeToRadian(float degree)
+    {
+        return degree * Mathf.PI / 180f;
+    }
+
+    public override void CollectObservations()
+    {
+        float rayDistance = 20f;
+        float[] rayAngles = { 0f, 45f, 90f, 135f, 180f, 110f, 70f };
+        string[] detectableObjects;
+        if (team == Team.red)
+        {
+            detectableObjects = new string[] { "ball", "redGoal", "blueGoal",
+                "wall", "redAgent", "blueAgent" };
+        }
+        else
+        {
+            detectableObjects = new string[] { "ball", "blueGoal", "redGoal",
+                "wall", "blueAgent", "redAgent" };
+        }
+        RayPerception(rayDistance, rayAngles, detectableObjects, 0f, 0f);
+        RayPerception(rayDistance, rayAngles, detectableObjects, 1f, 1f);
+    }
+
+    public void MoveAgent(float[] act)
+    {
+        Vector3 dirToGo = Vector3.zero;
+        Vector3 rotateDir = Vector3.zero;
+
+        int action = Mathf.FloorToInt(act[0]);
+
+        // Goalies and Strikers have slightly different action spaces.
+        if (agentRole == AgentRole.goalie)
+        {
+            kickPower = 0f;
+            if (action == 0)
+            {
+                dirToGo = transform.forward * 1f;
+                kickPower = 1f;
+            }
+            else if (action == 1)
+            {
+                dirToGo = transform.forward * -1f;
+            }
+            else if (action == 3)
+            {
+                dirToGo = transform.right * -1f;
+            }
+            else if (action == 2)
+            {
+                dirToGo = transform.right * 1f;
+            }
+
+        }
+        else
+        {
+            kickPower = 0f;
+            if (action == 0)
+            {
+                dirToGo = transform.forward * 1f;
+                kickPower = 1f;
+            }
+            else if (action == 1)
+            {
+                dirToGo = transform.forward * -1f;
+            }
+            else if (action == 2)
+            {
+                rotateDir = transform.up * 1f;
+            }
+            else if (action == 3)
+            {
+                rotateDir = transform.up * -1f;
+            }
+            else if (action == 4)
+            {
+                dirToGo = transform.right * -1f;
+            }
+            else if (action == 5)
+            {
+                dirToGo = transform.right * 1f;
+            }
+        }
+        transform.Rotate(rotateDir, Time.deltaTime * 100f);
+        agentRB.AddForce(dirToGo * academy.agentRunSpeed,
+                         ForceMode.VelocityChange);
+
+    }
+
+
+    public override void AgentAction(float[] vectorAction, string textAction)
+    {
+        // Existential penalty for strikers.
+        if (agentRole == AgentRole.striker)
+        {
+            AddReward(-1f / 3000f);
+        }
+        // Existential bonus for goalies.
+        if (agentRole == AgentRole.goalie)
+        {
+            AddReward(1f / 3000f);
+        }
+        MoveAgent(vectorAction);
+
+    }
+
+    /// <summary>
+    /// Used to provide a "kick" to the ball.
+    /// </summary>
+    void OnCollisionEnter(Collision c)
+    {
+        float force = 2000f * kickPower;
+        if (c.gameObject.tag == "ball")
+        {
+            Vector3 dir = c.contacts[0].point - transform.position;
+            dir = dir.normalized;
+            c.gameObject.GetComponent<Rigidbody>().AddForce(dir * force);
+        }
+    }
+
+
+    public override void AgentReset()
+    {
+        if (academy.randomizePlayersTeamForTraining)
+        {
+            ChooseRandomTeam();
+        }
+
+        if (team == Team.red)
+        {
+            JoinRedTeam(agentRole);
+            transform.rotation = Quaternion.Euler(0f, -90f, 0f);
+        }
+        else
+        {
+            JoinBlueTeam(agentRole);
+            transform.rotation = Quaternion.Euler(0f, 90f, 0f);
+        }
+        transform.position = area.GetRandomSpawnPos(team.ToString(),
+                                                    agentRole.ToString());
+        agentRB.velocity = Vector3.zero;
+        agentRB.angularVelocity = Vector3.zero;
+        area.ResetBall();
+    }
+
+    public override void AgentOnDone()
+    {
+
+    }
+}

unity-environment/Assets/ML-Agents/Examples/Soccer/Scripts/AgentSoccer.cs.meta

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unity-environment/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerAcademy.cs

+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class SoccerAcademy : Academy
+{
+
+    public Brain brainStriker;
+    public Brain brainGoalie;
+    public Material redMaterial;
+    public Material blueMaterial;
+    public float spawnAreaMarginMultiplier;
+    public float gravityMultiplier = 1;
+    public bool randomizePlayersTeamForTraining = true;
+    public int maxAgentSteps;
+
+    public float agentRunSpeed;
+    public float agentRotationSpeed;
+
+    public float strikerPunish; //if opponents scores, the striker gets this neg reward (-1)
+    public float strikerReward; //if team scores a goal they get a reward (+1)
+    public float goaliePunish; //if opponents score, goalie gets this neg reward (-1)
+    public float goalieReward; //if team scores, goalie gets this reward (currently 0...no reward. can play with this later)
+
+    void Start()
+    {
+        Physics.gravity *= gravityMultiplier; //for soccer a multiplier of 3 looks good
+    }
+    public override void AcademyReset()
+    {
+
+    }
+
+    public override void AcademyStep()
+    {
+
+    }
+
+}

unity-environment/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerAcademy.cs.meta

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unity-environment/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerBallController.cs

+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class SoccerBallController : MonoBehaviour
+{
+
+    [HideInInspector]
+    public SoccerFieldArea area;
+    public AgentSoccer lastTouchedBy; //who was the last to touch the ball
+    public string agentTag; //will be used to check if collided with a agent
+    public string redGoalTag; //will be used to check if collided with red goal
+    public string blueGoalTag; //will be used to check if collided with blue goal
+
+    // Use this for initialization
+    void Start()
+    {
+
+    }
+
+    // Update is called once per frame
+    void Update()
+    {
+
+    }
+
+    void OnCollisionEnter(Collision col)
+    {
+        if (col.gameObject.CompareTag(redGoalTag)) //ball touched red goal
+        {
+            area.GoalTouched(AgentSoccer.Team.blue);
+        }
+        if (col.gameObject.CompareTag(blueGoalTag)) //ball touched blue goal
+        {
+            area.GoalTouched(AgentSoccer.Team.red);
+        }
+    }
+}

unity-environment/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerBallController.cs.meta

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unity-environment/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerFieldArea.cs

+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+
+[System.Serializable]
+public class PlayerState
+{
+    public int playerIndex; 
+    public Rigidbody agentRB; 
+    public Vector3 startingPos; 
+    public AgentSoccer agentScript; 
+    public float ballPosReward;
+}
+
+public class SoccerFieldArea : MonoBehaviour
+{
+    public Transform redGoal;
+    public Transform blueGoal;
+    public AgentSoccer redStriker;
+    public AgentSoccer blueStriker;
+    public AgentSoccer redGoalie;
+    public AgentSoccer blueGoalie;
+    public GameObject ball;
+    [HideInInspector]
+    public Rigidbody ballRB;
+    public GameObject ground; 
+    public GameObject centerPitch;
+    SoccerBallController ballController;
+    public List<PlayerState> playerStates = new List<PlayerState>();
+    [HideInInspector]
+    public Vector3 ballStartingPos;
+    public bool drawSpawnAreaGizmo;
+    Vector3 spawnAreaSize;
+    public float goalScoreByTeamReward;
+    public float goalScoreAgainstTeamReward;
+    public GameObject goalTextUI;
+    public float totalPlayers;
+    [HideInInspector]
+    public bool canResetBall;
+    public bool useSpawnPoint;
+    public Transform spawnPoint;
+    Material groundMaterial;
+    Renderer groundRenderer;
+    SoccerAcademy academy;
+    public float blueBallPosReward;
+    public float redBallPosReward;
+
+    public IEnumerator GoalScoredSwapGroundMaterial(Material mat, float time)
+    {
+        groundRenderer.material = mat;
+        yield return new WaitForSeconds(time); 
+        groundRenderer.material = groundMaterial;
+    }
+
+
+    void Awake()
+    {
+        academy = FindObjectOfType<SoccerAcademy>();
+        groundRenderer = centerPitch.GetComponent<Renderer>(); 
+        groundMaterial = groundRenderer.material;
+        canResetBall = true;
+        if (goalTextUI) { goalTextUI.SetActive(false); }
+        ballRB = ball.GetComponent<Rigidbody>();
+        ballController = ball.GetComponent<SoccerBallController>();
+        ballController.area = this;
+        ballStartingPos = ball.transform.position;
+        Mesh mesh = ground.GetComponent<MeshFilter>().mesh;
+    }
+
+    IEnumerator ShowGoalUI()
+    {
+        if (goalTextUI) goalTextUI.SetActive(true);
+        yield return new WaitForSeconds(.25f);
+        if (goalTextUI) goalTextUI.SetActive(false);
+    }
+
+    public void AllPlayersDone(float reward)
+    {
+        foreach (PlayerState ps in playerStates)
+        {
+            if (ps.agentScript.gameObject.activeInHierarchy)
+            {
+                if (reward != 0)
+                {
+                    ps.agentScript.AddReward(reward);
+                }
+                ps.agentScript.Done();
+            }
+
+        }
+    }
+
+    public void GoalTouched(AgentSoccer.Team scoredTeam)
+    {
+        foreach (PlayerState ps in playerStates)
+        {
+            if (ps.agentScript.team == scoredTeam)
+            {
+                RewardOrPunishPlayer(ps, academy.strikerReward, academy.goalieReward);
+            }
+            else
+            {
+                RewardOrPunishPlayer(ps, academy.strikerPunish, academy.goaliePunish);
+            }
+            if (academy.randomizePlayersTeamForTraining)
+            {
+                ps.agentScript.ChooseRandomTeam();
+            }
+
+            if (scoredTeam == AgentSoccer.Team.red)
+            {
+                StartCoroutine(GoalScoredSwapGroundMaterial(academy.redMaterial, 1));
+            }
+            else
+            {
+                StartCoroutine(GoalScoredSwapGroundMaterial(academy.blueMaterial, 1));
+            }
+            if (goalTextUI)
+            {
+                StartCoroutine(ShowGoalUI());
+            }
+        }
+    }
+
+    public void RewardOrPunishPlayer(PlayerState ps, float striker, float goalie)
+    {
+        if (ps.agentScript.agentRole == AgentSoccer.AgentRole.striker)
+        {
+            ps.agentScript.AddReward(striker);
+        }
+        if (ps.agentScript.agentRole == AgentSoccer.AgentRole.goalie)
+        {
+            ps.agentScript.AddReward(goalie);
+        }
+        ps.agentScript.Done();  //all agents need to be reset
+    }
+
+
+    public Vector3 GetRandomSpawnPos(string type, string position)
+    {
+        Vector3 randomSpawnPos = Vector3.zero;
+        float xOffset = 0f;
+        if (type == "red")
+        {
+            if (position == "goalie")
+            {
+                xOffset = 13f;
+            }
+            if (position == "striker")
+            {
+                xOffset = 7f;
+            }
+        }
+        if (type == "blue")
+        {
+            if (position == "goalie")
+            {
+                xOffset = -13f;
+            }
+            if (position == "striker")
+            {
+                xOffset = -7f;
+            }
+        }
+        randomSpawnPos = ground.transform.position + 
+                               new Vector3(xOffset, 0f, 0f) 
+                               + (Random.insideUnitSphere * 2);
+        randomSpawnPos.y = ground.transform.position.y + 2;
+        return randomSpawnPos;
+    }
+
+    void SpawnObjAtPos(GameObject obj, Vector3 pos)
+    {
+        obj.transform.position = pos;
+    }
+
+    public void ResetBall()
+    {
+        ball.transform.position = GetRandomSpawnPos("ball", "ball");
+        ballRB.velocity = Vector3.zero;
+        ballRB.angularVelocity = Vector3.zero;
+    }
+}

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